Preset for Bullet Physics SDK

.github/workflows/bullet.yml

@@ -0,0 +1,64 @@
+name: bullet
+on:
+  push:
+    paths:
+      - bullet/**
+  pull_request:
+    paths:
+      - bullet/**
+  workflow_dispatch:
+env:
+  CI_DEPLOY_MODULE: ${{ github.workflow }}
+  CI_DEPLOY_PLATFORM: ${{ github.job }}
+  CI_DEPLOY_SETTINGS: ${{ secrets.CI_DEPLOY_SETTINGS }}
+  CI_DEPLOY_USERNAME: ${{ secrets.CI_DEPLOY_USERNAME }}
+  CI_DEPLOY_PASSWORD: ${{ secrets.CI_DEPLOY_PASSWORD }}
+  STAGING_REPOSITORY: ${{ secrets.STAGING_REPOSITORY }}
+jobs:
+  android-arm:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  android-arm64:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  android-x86:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  android-x86_64:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  linux-x86:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  linux-x86_64:
+    runs-on: ubuntu-18.04
+    container: centos:7
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions
+  macosx-x86_64:
+    runs-on: macos-10.15
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-macosx@actions
+  windows-x86:
+    runs-on: windows-2019
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-windows@actions
+  windows-x86_64:
+    runs-on: windows-2019
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/deploy-windows@actions
+  redeploy:
+    needs: [android-arm, android-arm64, android-x86, android-x86_64, linux-x86, linux-x86_64, macosx-x86_64, windows-x86, windows-x86_64]
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: bytedeco/javacpp-presets/.github/actions/redeploy@actions

CHANGELOG.md

@@ -1,4 +1,5 @@
 
+ * Add presets for Bullet Physics SDK 3.21 ([pull #1153](https://github.com/bytedeco/javacpp-presets/pull/1153))
  * Add `long[] pytorch.Tensor.shape()` method for convenience ([pull #1161](https://github.com/bytedeco/javacpp-presets/pull/1161))
  * Enable DNNL codegen as BYOC backend in presets for TVM
  * Allow passing raw pointer as deleter to `from_blob()`, etc functions of PyTorch ([discussion #1160](https://github.com/bytedeco/javacpp-presets/discussions/1160))

README.md

@@ -54,6 +54,7 @@ JavaCPP Presets
 [![ngraph](https://github.com/bytedeco/javacpp-presets/workflows/ngraph/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Angraph)
 [![onnxruntime](https://github.com/bytedeco/javacpp-presets/workflows/onnxruntime/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Aonnxruntime)
 [![tvm](https://github.com/bytedeco/javacpp-presets/workflows/tvm/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Atvm)
+[![bullet](https://github.com/bytedeco/javacpp-presets/workflows/bullet/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Abullet)
 [![liquidfun](https://github.com/bytedeco/javacpp-presets/workflows/liquidfun/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Aliquidfun)
 [![qt](https://github.com/bytedeco/javacpp-presets/workflows/qt/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Aqt)
 [![skia](https://github.com/bytedeco/javacpp-presets/workflows/skia/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Askia)
@@ -224,6 +225,7 @@ Each child module in turn relies by default on the included [`cppbuild.sh` scrip
  * nGraph 0.26.0  https://github.com/NervanaSystems/ngraph
  * ONNX Runtime 1.10.x  https://github.com/microsoft/onnxruntime
  * TVM 0.8.x  https://github.com/apache/tvm
+ * Bullet Physics SDK 3.21  https://pybullet.org
  * LiquidFun  http://google.github.io/liquidfun/
  * Qt 5.15.x  https://download.qt.io/archive/qt/
  * Mono/Skia 2.80.x  https://github.com/mono/skia

bullet/LICENSE.txt

@@ -0,0 +1,15 @@
+
+The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs.
+
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

bullet/README.md

@@ -0,0 +1,166 @@
+JavaCPP Presets for Bullet Physics SDK
+======================================
+
+[![Gitter](https://badges.gitter.im/bytedeco/javacpp.svg)](https://gitter.im/bytedeco/javacpp) [![Maven Central](https://maven-badges.herokuapp.com/maven-central/org.bytedeco/bullet/badge.svg)](https://maven-badges.herokuapp.com/maven-central/org.bytedeco/bullet) [![Sonatype Nexus (Snapshots)](https://img.shields.io/nexus/s/https/oss.sonatype.org/org.bytedeco/bullet.svg)](http://bytedeco.org/builds/)  
+<sup>Build status for all platforms:</sup> [![bullet](https://github.com/bytedeco/javacpp-presets/workflows/bullet/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Abullet)  <sup>Commercial support:</sup> [![xscode](https://img.shields.io/badge/Available%20on-xs%3Acode-blue?style=?style=plastic&logo=appveyor&logo=data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEAAAABACAMAAACdt4HsAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAAAZQTFRF////////VXz1bAAAAAJ0Uk5T/wDltzBKAAAAlUlEQVR42uzXSwqAMAwE0Mn9L+3Ggtgkk35QwcnSJo9S+yGwM9DCooCbgn4YrJ4CIPUcQF7/XSBbx2TEz4sAZ2q1RAECBAiYBlCtvwN+KiYAlG7UDGj59MViT9hOwEqAhYCtAsUZvL6I6W8c2wcbd+LIWSCHSTeSAAECngN4xxIDSK9f4B9t377Wd7H5Nt7/Xz8eAgwAvesLRjYYPuUAAAAASUVORK5CYII=)](https://xscode.com/bytedeco/javacpp-presets)
+
+
+Introduction
+------------
+This directory contains the JavaCPP Presets module for:
+
+ * Bullet Physics SDK 3.21  https://github.com/bulletphysics/bullet3
+
+Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.
+
+
+Documentation
+-------------
+Java API documentation is available here:
+
+ * http://bytedeco.org/javacpp-presets/bullet/apidocs/
+
+
+### Special Mappings
+Mappings of `btAlignedObjectArray`'s instances for privitime types:
+
+| C++                                  | Java            |
+|--------------------------------------|-----------------|
+| `btAlignedObjectArray<bool>`         | `btBoolArray`   |
+| `btAlignedObjectArray<char>`         | `btCharArray`   |
+| `btAlignedObjectArray<int>`          | `btIntArray`    |
+| `btAlignedObjectArray<unsigned int>` | `btUIntArray`   |
+| `btAlignedObjectArray<btScalar>`     | `btScalarArray` |
+
+Name of a Java class, corresponding to an instance of `btAlignedObjectArray`
+for a composite type, is constructed by adding `Array` suffix to the name of
+the composite type, e.g. `btAlignedObjectArray<btQuaternion>` maps to
+`btQuaternionArray`.
+
+
+Sample Usage
+------------
+Here is a simple example of Bullet Physics SDK ported to Java and based on code found from:
+
+ * https://github.com/bulletphysics/bullet3/tree/3.21/examples/
+
+We can use [Maven 3](http://maven.apache.org/) to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the `pom.xml` and `SimpleBox.java` source files below, simply execute on the command line:
+```bash
+ $ mvn compile exec:java
+```
+
+### The `pom.xml` build file
+```xml
+<project>
+    <modelVersion>4.0.0</modelVersion>
+    <groupId>org.bytedeco.bullet</groupId>
+    <artifactId>samples</artifactId>
+    <version>1.5.8-SNAPSHOT</version>
+    <properties>
+        <exec.mainClass>SimpleBox</exec.mainClass>
+    </properties>
+    <dependencies>
+        <dependency>
+            <groupId>org.bytedeco</groupId>
+            <artifactId>bullet-platform</artifactId>
+            <version>3.21-1.5.8-SNAPSHOT</version>
+        </dependency>
+    </dependencies>
+    <build>
+        <sourceDirectory>.</sourceDirectory>
+    </build>
+</project>
+```
+
+### The `SimpleBox.java` source file
+```java
+import org.bytedeco.javacpp.*;
+import org.bytedeco.bullet.BulletCollision.*;
+import org.bytedeco.bullet.BulletDynamics.*;
+import org.bytedeco.bullet.LinearMath.*;
+
+public class SimpleBox {
+
+    private static btDefaultCollisionConfiguration m_collisionConfiguration;
+    private static btCollisionDispatcher m_dispatcher;
+    private static btBroadphaseInterface m_broadphase;
+    private static btConstraintSolver m_solver;
+    private static btDiscreteDynamicsWorld m_dynamicsWorld;
+
+    public static void main(String[] args)
+    {
+        createEmptyDynamicsWorld();
+
+        btBoxShape groundShape = new btBoxShape(new btVector3(50, 50, 50));
+
+        btTransform groundTransform = new btTransform();
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(new btVector3(0, -50, 0));
+
+        createRigidBody(0, groundTransform, groundShape);
+
+        btBoxShape colShape = new btBoxShape(new btVector3(1, 1, 1));
+        float mass = 1.0f;
+
+        colShape.calculateLocalInertia(mass, new btVector3(0, 0, 0));
+
+        btTransform startTransform = new btTransform();
+        startTransform.setIdentity();
+        startTransform.setOrigin(new btVector3(0, 3, 0));
+        btRigidBody box = createRigidBody(mass, startTransform, colShape);
+
+        for (int i = 0; i < 10; ++ i)
+        {
+            m_dynamicsWorld.stepSimulation(0.1f, 10, 0.01f);
+            btVector3 position = box.getWorldTransform().getOrigin();
+            System.out.println(position.y());
+        }
+
+        System.out.println(
+            "\n" +
+            "This sample simulates falling of a rigid box, followed by \n" +
+            "an inelastic collision with a ground plane.\n" +
+            "The numbers show height of the box at each simulation step. \n" +
+            "It should start around 3.0 and end up around 1.0.\n");
+    }
+
+    private static void createEmptyDynamicsWorld()
+    {
+        m_collisionConfiguration = new btDefaultCollisionConfiguration();
+        m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+        m_broadphase = new btDbvtBroadphase();
+        m_solver = new btSequentialImpulseConstraintSolver();
+        m_dynamicsWorld = new btDiscreteDynamicsWorld(
+            m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+        m_dynamicsWorld.setGravity(new btVector3(0, -10, 0));
+    }
+
+    private static btRigidBody createRigidBody(
+        float mass,
+        btTransform startTransform,
+        btCollisionShape shape)
+    {
+        boolean isDynamic = (mass != 0.f);
+
+        btVector3 localInertia = new btVector3(0, 0, 0);
+        if (isDynamic)
+            shape.calculateLocalInertia(mass, localInertia);
+
+        btDefaultMotionState motionState = new btDefaultMotionState(
+            startTransform, btTransform.getIdentity());
+
+        btRigidBody.btRigidBodyConstructionInfo cInfo =
+            new btRigidBody.btRigidBodyConstructionInfo(
+                mass, motionState, shape, localInertia);
+
+        btRigidBody body = new btRigidBody(cInfo);
+
+        body.setUserIndex(-1);
+        m_dynamicsWorld.addRigidBody(body);
+
+        return body;
+    }
+}
+```
+
+See the [samples](samples) subdirectory for more.